Merge branch 'ashwin+daniel/dop' of https://github.com/Stanford-NavLa…

…b/gnss_lib_py into ashwin+daniel/dop
Stanford-NavLab · Feb 10, 2024 · 25e97f8 · 25e97f8
2 parents 287a99c + ae8b591
commit 25e97f8
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diff --git a/build_docs.sh b/build_docs.sh
@@ -8,16 +8,24 @@ cd docs
 echo "Rebuilding References"
 rm -r ./source/reference/algorithms/*
 poetry run sphinx-apidoc -f -M -q -o ./source/reference/algorithms/ ./../gnss_lib_py/algorithms/
+rm -r ./source/reference/navdata/*
+poetry run sphinx-apidoc -f -M -q -o ./source/reference/navdata/ ./../gnss_lib_py/navdata/
 rm -r ./source/reference/parsers/*
 poetry run sphinx-apidoc -f -M -q -o ./source/reference/parsers/ ./../gnss_lib_py/parsers/
 rm -r ./source/reference/utils/*
 poetry run sphinx-apidoc -f -M -q -o ./source/reference/utils/ ./../gnss_lib_py/utils/
+rm -r ./source/reference/visualizations/*
+poetry run sphinx-apidoc -f -M -q -o ./source/reference/visualizations/ ./../gnss_lib_py/visualizations/
 rm -r ./source/reference/test_algorithms/*
 poetry run sphinx-apidoc -f -M -q -o ./source/reference/test_algorithms/ ./../tests/algorithms/
+rm -r ./source/reference/test_navdata/*
+poetry run sphinx-apidoc -f -M -q -o ./source/reference/test_navdata/ ./../tests/navdata/
 rm -r ./source/reference/test_parsers/*
 poetry run sphinx-apidoc -f -M -q -o ./source/reference/test_parsers/ ./../tests/parsers/
 rm -r ./source/reference/test_utils/*
 poetry run sphinx-apidoc -f -M -q -o ./source/reference/test_utils/ ./../tests/utils/
+rm -r ./source/reference/test_visualizations/*
+poetry run sphinx-apidoc -f -M -q -o ./source/reference/test_visualizations/ ./../tests/visualizations/
 
 # remove previously downloaded .csv files if they exist
 rm ./source/*/*.csv

diff --git a/docs/source/conf.py b/docs/source/conf.py
@@ -22,12 +22,16 @@
 sys.path.insert(0, os.path.abspath('../../'))
 sys.path.insert(0, os.path.abspath('../../gnss_lib_py/'))
 sys.path.insert(0, os.path.abspath('../../gnss_lib_py/algorithms/'))
+sys.path.insert(0, os.path.abspath('../../gnss_lib_py/navdata/'))
 sys.path.insert(0, os.path.abspath('../../gnss_lib_py/parsers/'))
 sys.path.insert(0, os.path.abspath('../../gnss_lib_py/utils/'))
+sys.path.insert(0, os.path.abspath('../../gnss_lib_py/visualizations/'))
 sys.path.insert(0, os.path.abspath('../../tests/'))
 sys.path.insert(0, os.path.abspath('../../tests/algorithms'))
+sys.path.insert(0, os.path.abspath('../../tests/navdata'))
 sys.path.insert(0, os.path.abspath('../../tests/parsers'))
 sys.path.insert(0, os.path.abspath('../../tests/utils'))
+sys.path.insert(0, os.path.abspath('../../tests/visualizations'))
 
 
 # -- Project information -----------------------------------------------------

diff --git a/docs/source/reference/navdata/modules.rst b/docs/source/reference/navdata/modules.rst
@@ -0,0 +1,8 @@
+navdata
+=======
+
+.. toctree::
+   :maxdepth: 4
+
+   navdata
+   operations
diff --git a/docs/source/reference/navdata/navdata.rst b/docs/source/reference/navdata/navdata.rst
@@ -0,0 +1,7 @@
+navdata module
+==============
+
+.. automodule:: navdata
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/navdata/operations.rst b/docs/source/reference/navdata/operations.rst
@@ -0,0 +1,7 @@
+operations module
+=================
+
+.. automodule:: operations
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/reference.rst b/docs/source/reference/reference.rst
@@ -290,8 +290,10 @@ documentation below.
      :maxdepth: 2
 
      algorithms/modules
+     navdata/modules
      parsers/modules
      utils/modules
+     visualizations/modules
 
 Testing References
 --------------------------------
@@ -302,8 +304,10 @@ documentation below.
      :maxdepth: 2
 
      test_algorithms/modules
+     test_navdata/modules
      test_parsers/modules
      test_utils/modules
+     test_visualizations/modules
 
 
 Additional Indices

diff --git a/docs/source/reference/test_navdata/conftest.rst b/docs/source/reference/test_navdata/conftest.rst
@@ -0,0 +1,7 @@
+conftest module
+===============
+
+.. automodule:: conftest
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/test_navdata/modules.rst b/docs/source/reference/test_navdata/modules.rst
@@ -0,0 +1,9 @@
+navdata
+=======
+
+.. toctree::
+   :maxdepth: 4
+
+   conftest
+   test_navdata
+   test_operations
diff --git a/docs/source/reference/test_navdata/test_navdata.rst b/docs/source/reference/test_navdata/test_navdata.rst
@@ -0,0 +1,7 @@
+test\_navdata module
+====================
+
+.. automodule:: test_navdata
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/test_navdata/test_operations.rst b/docs/source/reference/test_navdata/test_operations.rst
@@ -0,0 +1,7 @@
+test\_operations module
+=======================
+
+.. automodule:: test_operations
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/test_visualizations/conftest.rst b/docs/source/reference/test_visualizations/conftest.rst
@@ -0,0 +1,7 @@
+conftest module
+===============
+
+.. automodule:: conftest
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/test_visualizations/modules.rst b/docs/source/reference/test_visualizations/modules.rst
@@ -0,0 +1,11 @@
+visualizations
+==============
+
+.. toctree::
+   :maxdepth: 4
+
+   conftest
+   test_plot_map
+   test_plot_metric
+   test_plot_skyplot
+   test_style
diff --git a/docs/source/reference/test_visualizations/test_plot_map.rst b/docs/source/reference/test_visualizations/test_plot_map.rst
@@ -0,0 +1,7 @@
+test\_plot\_map module
+======================
+
+.. automodule:: test_plot_map
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/test_visualizations/test_plot_metric.rst b/docs/source/reference/test_visualizations/test_plot_metric.rst
@@ -0,0 +1,7 @@
+test\_plot\_metric module
+=========================
+
+.. automodule:: test_plot_metric
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/test_visualizations/test_plot_skyplot.rst b/docs/source/reference/test_visualizations/test_plot_skyplot.rst
@@ -0,0 +1,7 @@
+test\_plot\_skyplot module
+==========================
+
+.. automodule:: test_plot_skyplot
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/test_visualizations/test_style.rst b/docs/source/reference/test_visualizations/test_style.rst
@@ -0,0 +1,7 @@
+test\_style module
+==================
+
+.. automodule:: test_style
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/visualizations/modules.rst b/docs/source/reference/visualizations/modules.rst
@@ -0,0 +1,10 @@
+visualizations
+==============
+
+.. toctree::
+   :maxdepth: 4
+
+   plot_map
+   plot_metric
+   plot_skyplot
+   style
diff --git a/docs/source/reference/visualizations/plot_map.rst b/docs/source/reference/visualizations/plot_map.rst
@@ -0,0 +1,7 @@
+plot\_map module
+================
+
+.. automodule:: plot_map
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/visualizations/plot_metric.rst b/docs/source/reference/visualizations/plot_metric.rst
@@ -0,0 +1,7 @@
+plot\_metric module
+===================
+
+.. automodule:: plot_metric
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/visualizations/plot_skyplot.rst b/docs/source/reference/visualizations/plot_skyplot.rst
@@ -0,0 +1,7 @@
+plot\_skyplot module
+====================
+
+.. automodule:: plot_skyplot
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/visualizations/style.rst b/docs/source/reference/visualizations/style.rst
@@ -0,0 +1,7 @@
+style module
+============
+
+.. automodule:: style
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/gnss_lib_py/utils/dop.py b/gnss_lib_py/utils/dop.py
@@ -45,15 +45,21 @@ def get_dop(navdata, **which_dop):
 
         Note that the dop matrix output is splatted across entries following
         the behavior below:
-        [[EE, EN, EU, ET],
-         [NE, NN, NU, NT],
-         [UE, UN, UU, UT],
-         [TE, TN, TU, TT]]  (16 values in 2D array)
-        is stored as
-        [EE, EN, EU, ET,
-             NN, NU, NT,
-                 UU, UT,
-                     TT] (10 values in 1D array),
+        ::
+
+            [[EE, EN, EU, ET],
+             [NE, NN, NU, NT],
+             [UE, UN, UU, UT],
+             [TE, TN, TU, TT]]  (16 values in 2D array)
+
+        is stored as:
+        ::
+
+             [EE, EN, EU, ET,
+                  NN, NU, NT,
+                      UU, UT,
+                          TT] (10 values in 1D array)
+
         recognizing that the dop matrix is symmetric.
 
     Returns
@@ -135,26 +141,32 @@ def splat_dop_matrix(dop_matrix):
     Splat the DOP matrix into a 1D array. Note that the dop matrix output
     is splatted across entries following
     the behavior below:
+    ::
+
         [[EE, EN, EU, ET],
          [NE, NN, NU, NT],
          [UE, UN, UU, UT],
          [TE, TN, TU, TT]]  (16 values in 2D array)
-    is stored as
+
+    is stored as:
+    ::
+
          [EE, EN, EU, ET,
               NN, NU, NT,
                   UU, UT,
-                      TT] (10 values in 1D array),
+                      TT] (10 values in 1D array)
+
     recognizing that the dop matrix is symmetric.
 
     Parameters
     ----------
-    dop_matrix : np.ndarray (4, 4)
-        DOP matrix in ENU coordinates.
+    dop_matrix : np.ndarray
+        DOP matrix in ENU coordinates of size (4, 4).
 
     Returns
     -------
-    dop_splat : np.ndarray (10,)
-        DOP matrix splatted into a 1D array.
+    dop_splat : np.ndarray
+        DOP matrix splatted into a 1D array of size (10,).
     """
 
     # Splat the DOP matrix
@@ -168,26 +180,32 @@ def unsplat_dop_matrix(dop_splat):
     """
     Un-splat the DOP matrix from a 1D array. Note that the dop matrix output
     is unsplatted across entries following the behavior below:
+    ::
+
         [EE, EN, EU, ET,
              NN, NU, NT,
                  UU, UT,
                      TT] (10 values in 1D array)
+
     is unsplatted to
+    ::
+
         [[EE, EN, EU, ET],
          [NE, NN, NU, NT],
          [UE, UN, UU, UT],
          [TE, TN, TU, TT]]  (16 values in 2D array)
+
     recognizing that the dop matrix is symmetric.
 
     Parameters
     ----------
-    dop_splat : np.ndarray (10,)
-        DOP matrix splatted into a 1D array.
+    dop_splat : np.ndarray
+        DOP matrix splatted into a 1D array of size (10,).
 
     Returns
     -------
-    dop_matrix : np.ndarray (4, 4)
-        DOP matrix in ENU coordinates.
+    dop_matrix : np.ndarray
+        DOP matrix in ENU coordinates of size (4, 4).
     """
 
     # Un-splat the DOP matrix
@@ -218,8 +236,8 @@ def calculate_enu_dop_matrix(derived):
 
     Returns
     -------
-    dop_matrix : np.ndarray (4, 4)
-        DOP matrix.
+    dop_matrix : np.ndarray
+        DOP matrix of size (4, 4).
     """
 
     # Use the elevation and azimuth angles to get the ENU and Time matrix
@@ -242,8 +260,8 @@ def parse_dop(dop_matrix):
 
     Parameters
     ----------
-    dop_matrix : np.ndarray (4, 4)
-        DOP matrix in ENU coordinates.
+    dop_matrix : np.ndarray
+        DOP matrix in ENU coordinates of size (4, 4).
 
     Returns
     -------
@@ -306,8 +324,8 @@ def _calculate_enut_matrix(derived):
 
     Returns
     -------
-    enut_matrix : np.ndarray (num_satellites, 4)
-        Matrix of ENU and Time vectors.
+    enut_matrix : np.ndarray
+        Matrix of ENU and Time vectors of size (num_satellites, 4).
 
     """
     enu_unit_dir_mat = el_az_to_enu_unit_vector(derived['el_sv_deg'],